CN204967678U - High -speed brushless DC motor controlling means - Google Patents
High -speed brushless DC motor controlling means Download PDFInfo
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- CN204967678U CN204967678U CN201520571518.0U CN201520571518U CN204967678U CN 204967678 U CN204967678 U CN 204967678U CN 201520571518 U CN201520571518 U CN 201520571518U CN 204967678 U CN204967678 U CN 204967678U
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Abstract
The utility model relates to a high -speed brushless DC motor controlling means, including MCU micro controller unit, MOS pipe three -phase bridge unit with the three hall sensor in locating the brushless DC motor stator, MCU micro controller unit's output links to each other with the input of MOS pipe three -phase bridge unit, and the output of MOS pipe three -phase bridge unit links to each other with brushless DC motor's stator coil's input respectively, and three hall sensor's output is continuous with MCU micro controller unit's input respectively. The utility model discloses leave out RC filter circuit and MOS drive circuit, reduced the feedback and postpone and the control lag, effectively solved the phase lag problem to can take into account the just reversal of motor, guarantee the high -speed operation of motor, improve stability and production yield, reduce cost.
Description
Technical field
The utility model relates to a kind of motor, particularly relates to a kind of high-speed brushless DC electromotor control device.
Background technology
In current three-phase brushless dc motor controller, the control program of conventional band hall position feedback, determines stator and Hall element relative position angle, installs three Hall elements in the stator.The drive axle that controller generally comprises microcontroller, MOS drive circuit, 6 metal-oxide-semiconductors are formed and RC filter circuit, microcontroller, MOS drive circuit and metal-oxide-semiconductor drive axle are connected successively, three outputs of metal-oxide-semiconductor drive axle are connected with three stator coils of brshless DC motor respectively, and the output installing three Hall elements is in the stator connected with the input of microcontroller through RC filter circuit.When rotor magnetic pole is near Hall element, Hall element just can send height (low) level signal, microcontroller reads the signal combination of these three Hall elements after the process of RC filter circuit by input I/O port, the position of current rotor is judged, draw the power-up sequence that stator coil is next correct, then microcontroller exports corresponding pwm signal to MOS drive circuit, again through the process of metal-oxide-semiconductor drive axle, export control signal and make the corresponding winding energising of stator coil, thus rotor continued smooth is operated.
Traditional control program is one and first detects the process judged afterwards, inevitably causes lag output.Simultaneously because Hall element itself exists the hysteresis quality of magnetic detection and signal output, and in order to eliminate circuit external interference or inner noise signal, need to add filter capacitor in Hall level shifting circuit, it is delayed that the existence of electric capacity also can cause hall signal to export, although can electric capacity be reduced, improve delayed, but hall signal interference can be caused to eliminate, this is worthless.In addition, when rotating forward, also can be improved the problem of delayed phase by the setting angle revising Hall element relative stator, if but motor reversal, delayed more serious, therefore this modification method can not take into account the forward and backward state of motor simultaneously.So due to the existence of hysteresis effect, cause the brushless direct-current machine counter electromotive delayed phase being with Hall to control, delivery efficiency reduces, restriction high-speed cruising.
On the whole, there is following drawback in traditional brushless direct current motor controller: need connect RC filter circuit, causes the transfer lag of signal, makes controller cannot the up-to-date state of a control of real-time tracking, causes control efficiency to reduce, cannot go up at a high speed; Peripheral circuit is complicated, needs complicated power tube drive circuit, brings impact to the consistency of integrated circuit and control performance; The components and parts used are many, and cause batch production fraction defective low not, cost is also higher.
Summary of the invention
The utility model mainly solves the brushless direct current motor controller that original band Hall controls, and has RC filter circuit, causes counter electromotive force of motor delayed phase, and delivery efficiency reduces, the technical problem of restriction high-speed cruising; A kind of high-speed brushless DC electromotor control device is provided, that eliminates RC filter circuit, reduce feedback delay and control lag, and the rotating of motor can be taken into account, control high speed operation of motor.
The utility model solves the brushless direct current motor controller that original band Hall controls simultaneously, existing RC filter circuit has again MOS drive circuit, peripheral circuit is complicated, the components and parts used are many, affect consistency and the control performance of integrated circuit, cause batch production fraction defective low not, the technical problem that cost is also higher; There is provided a kind of high-speed brushless DC electromotor control device, it neither needs RC filter circuit also not need MOS drive circuit, and simplify circuit, external component greatly reduces, and improves stability and produces yield, also reducing costs.
Above-mentioned technical problem of the present utility model is mainly solved by following technical proposals: the utility model comprises MCU micro controller unit, metal-oxide-semiconductor three-phase bridge unit and is located at three Hall elements in brushless DC motor stator, the output of MCU micro controller unit is connected with the input of described metal-oxide-semiconductor three-phase bridge unit, the output of metal-oxide-semiconductor three-phase bridge unit is connected with the input of the stator coil of brshless DC motor respectively, and the output of three described Hall elements is connected with the input of described MCU micro controller unit respectively.Hall element detects the position of the rotor of brshless DC motor in real time and flows to MCU micro controller unit, MCU micro controller unit reads current Hall value, carry out treatment and analysis, filtering is carried out to Hall feedback signal, output power signal is to metal-oxide-semiconductor three-phase bridge unit again, by the power-up sequence of the stator coil of metal-oxide-semiconductor three-phase bridge unit controls brshless DC motor, control the operation of brshless DC motor.In the environment stronger to Hall interference, do not need change hardware circuit to change filter factor, ensure that hall signal is correct.The technical program eliminates RC filter circuit, decreases feedback delay and control lag, and can take into account the rotating of motor, thus controls high speed operation of motor.Also eliminate original MOS drive circuit, simplify circuit, external component greatly reduces simultaneously, improves stability and produces yield, also reducing costs.
As preferably, described MCU micro controller unit comprises the single-chip microcomputer U being built-in with MOS drive circuit, single-chip microcomputer U has PWM0 pin, PWM1 pin, PWM2 pin, PWM3 pin, PWM4 pin and PWM5 pin six outputs, described metal-oxide-semiconductor three-phase bridge unit has six metal-oxide-semiconductors, and the base stage of the PWM0 pin of single-chip microcomputer U, PWM1 pin, PWM2 pin, PWM3 pin, PWM4 pin and PWM5 pin respectively with six metal-oxide-semiconductors is connected.Six power control output of single-chip microcomputer U control conducting or the cut-off of six metal-oxide-semiconductors, thus control the power-up sequence of the stator coil of brshless DC motor.Circuit is simple, improves reliability, also reduces costs.
As preferably, described metal-oxide-semiconductor three-phase bridge unit comprises metal-oxide-semiconductor Q0, metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4 and metal-oxide-semiconductor Q5, metal-oxide-semiconductor Q1, the collector electrode of metal-oxide-semiconductor Q3 and metal-oxide-semiconductor Q5 is all connected with voltage DC+, metal-oxide-semiconductor Q0, the equal ground connection of emitter of metal-oxide-semiconductor Q2 and metal-oxide-semiconductor Q4, the collector electrode of metal-oxide-semiconductor Q0 is connected with the emitter of metal-oxide-semiconductor Q1 and is connected with the input of the stator coil L1 of described brshless DC motor, the collector electrode of metal-oxide-semiconductor Q2 is connected with the emitter of metal-oxide-semiconductor Q3 and is connected with the input of the stator coil L2 of described brshless DC motor, the collector electrode of metal-oxide-semiconductor Q4 is connected with the emitter of metal-oxide-semiconductor Q5 and is connected with the input of the stator coil L3 of described brshless DC motor.
As preferably, described MCU micro controller unit is connected with operation/stop button K1 and forward/reverse button K2.Operation operation/stop button K1, can control the start and stop of brshless DC motor; Operation forward/reverse button K2, can control brshless DC motor and run by forward or reverse mode.
The beneficial effects of the utility model are: neither need RC filter circuit also not need MOS drive circuit, decrease feedback delay and control lag, efficiently solve phase lag problem, and the rotating of motor can be taken into account, thus stably can control high speed operation of motor.Circuit is simple, and external component greatly reduces, and improves stability and produces yield, also reducing costs.
Accompanying drawing explanation
Fig. 1 is a kind of circuit theory syndeton block diagram of the present utility model.
Fig. 2 is a kind of circuit connection structure schematic diagram of the present utility model.
Fig. 3 is the corresponding a kind of schematic diagram of brushless DC motor rotor rotational angle and Hall value.
1.MCU micro controller unit in figure, 2.MOS pipe three-phase bridge unit, 3. brshless DC motor, 4. Hall element, 5. stator coil.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.
Embodiment: a kind of high-speed brushless DC electromotor control device of the present embodiment, as shown in Figure 1, three Hall elements 4 comprising MCU micro controller unit 1, metal-oxide-semiconductor three-phase bridge unit 2 and be arranged in brshless DC motor 3 stator, the output of MCU micro controller unit 1 is connected with the input of metal-oxide-semiconductor three-phase bridge unit 2, the output of metal-oxide-semiconductor three-phase bridge unit 2 is connected with the input of the stator coil 5 of brshless DC motor 3 respectively, and the output of three Hall elements 4 is connected with the input of MCU micro controller unit 1 respectively.
As shown in Figure 2, MCU micro controller unit 1 comprises the single-chip microcomputer U being built-in with MOS drive circuit to concrete circuit, and single-chip microcomputer U has two timers, and in the present embodiment, single-chip microcomputer U adopts DRV91620 single-chip microcomputer, and single-chip microcomputer U has PWM0 pin, PWM1 pin, PWM2 pin, PWM3 pin, PWM4 pin and PWM5 pin six outputs, metal-oxide-semiconductor three-phase bridge unit 2 comprises metal-oxide-semiconductor Q0, metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4 and metal-oxide-semiconductor Q5, metal-oxide-semiconductor Q1, the collector electrode of metal-oxide-semiconductor Q3 and metal-oxide-semiconductor Q5 is all connected with voltage DC+, metal-oxide-semiconductor Q0, the equal ground connection of emitter of metal-oxide-semiconductor Q2 and metal-oxide-semiconductor Q4, the PWM0 pin of single-chip microcomputer U, PWM1 pin, PWM2 pin, PWM3 pin, PWM4 pin and PWM5 pin respectively with metal-oxide-semiconductor Q0, metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, the base stage of metal-oxide-semiconductor Q4 and metal-oxide-semiconductor Q5 is connected, the collector electrode of metal-oxide-semiconductor Q0 is connected with the emitter of metal-oxide-semiconductor Q1 and is connected with the input of the stator coil L1 of brshless DC motor 3, the collector electrode of metal-oxide-semiconductor Q2 is connected with the emitter of metal-oxide-semiconductor Q3 and is connected with the input of stator coil L2, and the collector electrode of metal-oxide-semiconductor Q4 is connected with the emitter of metal-oxide-semiconductor Q5 and is connected with the input of stator coil L3.Single-chip microcomputer U is also connected with operation/stop button K1, forward/reverse button K2 and reset circuit.Operation operation/stop button K1, can control the start and stop of brshless DC motor; Operation forward/reverse button K2, can control brshless DC motor and run by forward or reverse mode.
The course of work:
1. three Hall elements 4 detect the position of the rotor of brshless DC motor 3 in real time and flow to single-chip microcomputer U, and single-chip microcomputer U reads current Hall value, and now rotor is positioned at the n-th Hall interval, and the first timer simultaneously in single-chip microcomputer U starts timing;
2., when Hall value jumps to next Hall value, single-chip microcomputer U reads the time Tn of rotor through the n-th Hall interval that first timer is caught, and now rotor enters (n+1)th Hall interval, is then divided into two steps and walks: a step, get back to step 1.; B step, the second timer in single-chip microcomputer U starts timing, forwards step to 3.;
3. in single-chip microcomputer U, set T0=(1/4) Tn commutating period in advance that rotor enters the n-th+2 Hall intervals in advance;
4. when second timer timing arrives (3/4) Tn, the pwm signal that single-chip microcomputer U exports is switched to the interval corresponding output phase of the n-th+2 Halls, again by the process of metal-oxide-semiconductor three-phase bridge unit 2, export power on signal respectively to the stator coil L1 of brshless DC motor 3, stator coil L2 and stator coil L3, then stator coil is not delayed in the phase place of the n-th+2 Hall interval outputs of rotor.
Wherein, n returns the sequential loop of 1 with 1,2,3,4,5,6.Through various test, during m=4, the effect solving delayed phase is more desirable.Certain m also can be the natural numbers such as 3,4,5,6 or 7, can carry out changing and setting according to different situations.
In order to get across, below principle is made an explanation.
As shown in Figure 3, Hall element feeds back six kinds of signal conditions of rotor magnetic pole position: 001,101,100,110,010,011, each signal condition represents the angular interval of rotor operation, that is: 0 ~ 60 °, 60 ~ 120 °, 120 ~ 180 °, 180 ~ 240 °, 240 ~ 300 °, 300 ~ 360 ° (0 °), A, B, C, D, E, F represent 6 sector joints respectively.Such as: the time that rotor runs to B point need from A point is T1, and namely rotor turns over 0 ~ 60 ° of interval time.By observing counter electromotive force phase figure, observing delayed phase is about 15 °, the time that rotor operation 15 ° is corresponding is T0, the inner first timer of single-chip microcomputer capture from Hall value be 001 jump to Hall value be 101 time be T1, and be about 15 ° thus setting T0=(1/4) T1 from observing delayed phase, due in two adjacent sectors, brshless DC motor can be thought at the uniform velocity to operate, so think from Hall value be the 101 time T2=T1 jumping to that Hall value is 100, corresponding now counter electromotive force phase is delayed also at about 15 °, so the inner second timer of single-chip microcomputer is allowed to start timing at B point, when second timer timing is to (T1-T0) moment, namely when rotor turns over (60 °-15 °), being switched to immediately with Hall value is 100 corresponding stator winding outputs, i.e. Pre-handoff, then the phase place of 100 Hall interval outputs is not delayed, reach best torque to export.In order to ensure that next Hall interval 110 is also that best torque exports, then need first timer to measure time T2 that Hall value is 101 intervals, namely from Hall value be 101 times jumping to that Hall value is 100, in 100 Hall section operation (T2-T0) moment, being switched to immediately with Hall value is 110 corresponding stator winding outputs, i.e. Pre-handoff, then the phase place that 110 Hall intervals export does not have delayed, ensure that the best of the interval corresponding phase of 110 Halls and torque exports.Circulation like this.Can find out, rotor shifts to an earlier date the phase outputs that the T0 time has been cut into 100 interval correspondences when 101 section operation, rotor shifts to an earlier date T0 time-switching to 110 interval corresponding phase outputs when 100 section operation, so complete 60 ° of 100 section operations can be determined, be only 60 ° from 105 ° to 165 ° of these intervals when the hall position angle of reality represents.Certainly, above-mentionedly to illustrate, delayed phase 15 ° is an example just, and lag angle can be less than any angle of 60 ° in fact, carries out phase only pupil filter in this way.
Brshless DC motor reversion run time situation the same, only sector order from 001 when rotating forward, 101,100,110,010,011 become reversion time 001,011,010,110,100,101.
The utility model adopts MCU microcontroller to carry out filtering to Hall feedback signal, save peripheral RC filter circuit, adaptability is stronger, in the environment stronger to Hall interference, does not need to change hardware circuit, direct configuration MCU microcontroller register can change filter factor, ensure that hall signal detects correct, decrease feedback delay and control lag, efficiently solve phase lag problem, and the rotating of motor can be taken into account, thus stably can control high speed operation of motor.Also save simultaneously and originally needed external MOS drive circuit, circuit is simple, and external component greatly reduces, and improves stability and produces yield, also reducing costs.
Claims (4)
1. a high-speed brushless DC electromotor control device, it is characterized in that comprising MCU micro controller unit (1), metal-oxide-semiconductor three-phase bridge unit (2) and three Hall elements (4) be located in brshless DC motor (3) stator, the output of MCU micro controller unit (1) is connected with the input of described metal-oxide-semiconductor three-phase bridge unit (2), the output of metal-oxide-semiconductor three-phase bridge unit (2) is connected with the input of the stator coil (5) of brshless DC motor (3) respectively, the output of three described Hall elements (4) is connected with the input of described MCU micro controller unit (1) respectively.
2. a kind of high-speed brushless DC electromotor control device according to claim 1, it is characterized in that described MCU micro controller unit (1) comprises the single-chip microcomputer U being built-in with MOS drive circuit, single-chip microcomputer U has PWM0 pin, PWM1 pin, PWM2 pin, PWM3 pin, PWM4 pin and PWM5 pin six outputs, described metal-oxide-semiconductor three-phase bridge unit (2) has six metal-oxide-semiconductors, and the base stage of the PWM0 pin of single-chip microcomputer U, PWM1 pin, PWM2 pin, PWM3 pin, PWM4 pin and PWM5 pin respectively with six metal-oxide-semiconductors is connected.
3. a kind of high-speed brushless DC electromotor control device according to claim 2, it is characterized in that described metal-oxide-semiconductor three-phase bridge unit (2) comprises metal-oxide-semiconductor Q0, metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, metal-oxide-semiconductor Q3, metal-oxide-semiconductor Q4 and metal-oxide-semiconductor Q5, metal-oxide-semiconductor Q1, the collector electrode of metal-oxide-semiconductor Q3 and metal-oxide-semiconductor Q5 is all connected with voltage DC+, metal-oxide-semiconductor Q0, the equal ground connection of emitter of metal-oxide-semiconductor Q2 and metal-oxide-semiconductor Q4, the collector electrode of metal-oxide-semiconductor Q0 is connected with the emitter of metal-oxide-semiconductor Q1 and is connected with the input of the stator coil L1 of described brshless DC motor (3), the collector electrode of metal-oxide-semiconductor Q2 is connected with the emitter of metal-oxide-semiconductor Q3 and is connected with the input of the stator coil L2 of described brshless DC motor (3), the collector electrode of metal-oxide-semiconductor Q4 is connected with the emitter of metal-oxide-semiconductor Q5 and is connected with the input of the stator coil L3 of described brshless DC motor (3).
4. a kind of high-speed brushless DC electromotor control device according to claim 1 or 2 or 3, is characterized in that described MCU micro controller unit (1) is connected with operation/stop button K1 and forward/reverse button K2.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105322845A (en) * | 2015-07-31 | 2016-02-10 | 浙江先芯科技有限公司 | High-speed brushless motor controller and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105322845A (en) * | 2015-07-31 | 2016-02-10 | 浙江先芯科技有限公司 | High-speed brushless motor controller and control method thereof |
| CN105322845B (en) * | 2015-07-31 | 2018-09-07 | 浙江先芯科技有限公司 | High-speed brushless electric machine controller and its control method |
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